version: 66.06
glider: 146
mission: 6
dive: 399
start: 6 28 111 16 30 22
data:
$ID,146
$MISSION,6
$DIVE,399
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-277908.34
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1920
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3010
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,162231,2250.151,-15759.207,45,1.7,45,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.2
$GPS2,162926,2250.214,-15759.257,14,1.0,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.103
$KALMAN_X,-280875.2,47.5,-143.5,276774.2,-1172.4
$KALMAN_Y,50704.8,-211.6,227.3,-39036.9,930.7
$MHEAD_RNG_PITCHd_Wd,105.9,3872,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.35,0.000,2,0.000,0.000,475,1919,3277,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.8,-6.9,9,119,12.65,2.67,-3.72,0.000,4,0.156,0.058,2867,333,3489,0,0,0,0,0,0
$GC,144,-1.00,-116.8,20.6,-27.5,15,154,0.38,2.47,0.00,0.000,6,0.136,0.015,2951,1932,3490,0,0,0,0,0,0
$GC,426,-1.06,-116.8,53.3,-11.1,44,431,0.00,2.42,0.00,0.000,4,0.000,0.027,2951,3474,3490,0,0,0,0,0,0
$GC,460,-1.15,-116.8,57.1,-10.3,46,465,0.12,2.47,0.00,0.000,6,0.069,0.025,2898,1907,3490,0,0,0,0,0,0
$GC,722,-1.15,-116.8,93.1,-12.6,70,727,0.12,2.50,0.00,0.000,4,0.107,0.029,2925,3478,3491,0,0,0,0,0,0
$GC,792,-1.26,-116.8,100.8,-11.4,75,797,0.10,2.42,0.00,0.000,6,0.082,0.025,2880,1934,3491,0,0,0,0,0,0
$GC,1058,-1.26,-116.8,134.0,-10.7,99,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1934,3491,0,0,0,0,0,0
$GC,1324,-1.26,-116.8,161.7,-10.6,124,1328,0.00,2.42,0.00,0.000,4,0.000,0.033,2880,3476,3492,0,0,0,0,0,0
$GC,1369,-1.32,-116.8,166.4,-10.1,127,1373,0.00,2.40,0.00,0.000,6,0.000,0.030,2880,1937,3492,0,0,0,0,0,0
$GC,1637,-1.36,-116.8,193.7,-11.1,151,1641,0.00,2.40,0.00,0.000,4,0.000,0.030,2880,3471,3493,0,0,0,0,0,0
$GC,1654,-1.40,-116.8,196.4,-11.1,152,1658,0.00,2.40,0.00,0.000,6,0.000,0.026,2880,1924,3493,0,0,0,0,0,0
$GC,1936,-1.45,-116.8,226.8,-10.3,161,1940,0.00,2.45,0.00,0.000,4,0.000,0.032,2880,3468,3493,0,0,0,0,0,0
$GC,2010,-1.54,-116.8,233.9,-9.4,162,2015,0.17,2.40,0.00,0.000,6,0.055,0.028,2817,1946,3493,0,0,0,0,0,0
$GC,2260,-1.49,-116.8,262.4,-11.2,168,2265,0.15,2.42,0.00,0.000,4,0.100,0.036,2849,3468,3493,0,0,0,0,0,0
$GC,2294,-1.52,-116.8,265.9,-10.1,168,2300,0.00,2.42,0.00,0.000,6,0.000,0.028,2850,1935,3494,0,0,0,0,0,0
$GC,2544,-1.52,-116.8,289.9,-9.2,175,2549,0.00,2.45,0.00,0.000,4,0.000,0.035,2850,3465,3493,0,0,0,0,0,0
$GC,2566,-1.52,-116.8,292.1,-9.9,175,2571,0.00,2.42,0.00,0.000,6,0.000,0.025,2850,1944,3493,0,0,0,0,0,0
$GC,2824,-1.56,-116.8,317.7,-10.3,182,2828,0.00,2.45,0.00,0.000,4,0.000,0.036,2850,3469,3493,0,0,0,0,0,0
$GC,2845,-1.61,-116.8,320.4,-10.8,182,2850,0.10,2.45,0.00,0.000,6,0.080,0.037,2806,1940,3493,0,0,0,0,0,0
$GC,3101,-1.57,-116.8,353.0,-12.8,189,3106,0.12,2.50,0.00,0.000,4,0.106,0.036,2834,3464,3493,0,0,0,0,0,0
$GC,3135,-1.57,-116.8,357.1,-12.0,189,3140,0.00,2.47,0.00,0.000,6,0.000,0.045,2834,1953,3493,0,0,0,0,0,0
$GC,3385,-1.57,-116.8,384.0,-10.6,196,3389,0.00,2.92,0.00,0.000,4,0.000,0.092,2834,334,3492,0,0,0,0,0,0
$GC,3462,-1.57,-116.8,393.2,-11.4,197,3468,0.00,2.53,0.00,0.000,6,0.000,0.034,2834,1908,3491,0,0,0,0,0,0
$GC,3714,-1.61,-116.8,416.5,-9.2,204,3719,0.00,2.62,0.00,0.000,4,0.000,0.051,2834,3495,3490,0,0,0,0,0,0
$GC,3730,-1.61,-116.8,418.4,-9.3,204,3735,0.00,2.58,0.00,0.000,6,0.000,0.050,2834,1937,3490,0,0,0,0,0,0
$GC,3991,-1.64,-116.8,442.9,-9.5,211,3996,0.00,2.58,0.00,0.000,4,0.000,0.047,2834,3494,3488,0,0,0,0,0,0
$GC,4015,-1.68,-116.8,445.2,-9.7,211,4020,0.12,2.60,0.00,0.000,6,0.071,0.055,2784,1937,3488,0,0,0,0,0,0
$GC,4271,-1.63,-116.8,474.0,-11.6,218,4276,0.15,2.62,0.00,0.000,4,0.105,0.051,2817,3491,3486,0,0,0,0,0,0
$GC,4316,-1.68,-116.8,478.7,-9.6,219,4320,0.00,2.60,0.00,0.000,6,0.000,0.053,2817,1948,3485,0,0,0,0,0,0
$STATE,4550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4550,begin apogee
$GC,4558,-0.31,0.0,501.6,9.6,225,4660,1.25,0.00,98.12,0.909,6,0.074,0.000,3104,2013,3010,0,0,0,0,0,0
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4663,1.38,116.8,503.2,0.0,227,4775,1.58,2.72,99.82,0.891,4,0.046,0.056,3482,3554,2533,0,0,0,0,0,0
$GC,4820,1.23,129.7,497.8,9.3,231,4842,0.20,2.67,11.85,0.794,6,0.117,0.051,3443,1990,2480,0,0,0,0,0,0
$GC,5087,1.18,147.5,473.4,9.0,238,5106,0.00,0.00,16.40,0.824,6,0.000,0.000,3444,1990,2408,0,0,0,0,0,0
$GC,5329,1.13,162.8,451.3,9.2,244,5345,0.00,0.00,14.30,0.812,6,0.000,0.000,3444,1990,2345,0,0,0,0,0,0
$GC,5573,1.10,170.7,428.0,9.6,250,5588,0.15,2.70,8.25,0.744,4,0.120,0.044,3413,3560,2312,0,0,0,0,0,0
$GC,5640,1.11,183.4,421.8,9.3,251,5661,0.00,2.65,13.02,0.795,6,0.000,0.048,3414,1994,2261,0,0,0,0,0,0
$GC,5905,1.15,211.3,399.3,8.4,258,5936,0.00,2.95,25.60,0.830,4,0.000,0.088,3413,407,2147,0,0,0,0,0,0
$GC,5954,1.15,211.3,394.7,10.3,259,5958,0.00,2.55,0.00,0.000,6,0.000,0.025,3413,1984,2145,0,0,0,0,0,0
$GC,6226,1.20,221.6,368.0,9.4,266,6242,0.10,2.78,9.93,0.749,4,0.098,0.066,3441,407,2105,0,0,0,0,0,0
$GC,6293,1.15,221.6,360.8,11.4,267,6297,0.00,2.53,0.00,0.000,6,0.000,0.020,3441,1993,2103,0,0,0,0,0,0
$GC,6549,1.16,230.1,336.0,9.6,274,6559,0.00,0.00,8.50,0.719,6,0.000,0.000,3441,1993,2072,0,0,0,0,0,0
$GC,6791,1.17,234.6,312.2,9.8,280,6802,0.00,2.75,5.68,0.633,4,0.000,0.060,3441,403,2052,0,0,0,0,0,0
$GC,6868,1.17,234.6,303.9,11.6,281,6873,0.00,2.53,0.00,0.000,6,0.000,0.020,3441,1997,2051,0,0,0,0,0,0
$GC,7118,1.17,239.6,279.2,9.8,287,7128,0.00,2.55,5.35,0.606,4,0.000,0.039,3441,3554,2034,0,0,0,0,0,0
$GC,7215,1.23,253.6,269.4,9.2,289,7234,0.00,2.55,14.32,0.731,6,0.000,0.031,3441,1995,1976,0,0,0,0,0,0
$GC,7492,1.31,274.0,245.0,8.9,296,7517,0.00,2.80,19.45,0.726,4,0.000,0.066,3441,411,1890,0,0,0,0,0,0
$GC,7562,1.31,274.0,237.7,10.5,297,7566,0.00,2.53,0.00,0.000,6,0.000,0.025,3441,2010,1888,0,0,0,0,0,0
$GC,7814,1.38,274.0,212.5,10.1,303,7819,0.15,2.53,0.00,0.000,4,0.074,0.039,3480,3554,1887,0,0,0,0,0,0
$GC,7841,1.38,274.0,209.2,11.9,303,7845,0.00,2.53,0.00,0.000,6,0.000,0.030,3480,2001,1886,0,0,0,0,0,0
$GC,8107,1.38,274.0,179.4,11.7,322,8112,0.00,2.72,0.00,0.000,4,0.000,0.066,3480,407,1886,0,0,0,0,0,0
$GC,8137,1.38,274.0,175.6,12.5,324,8141,0.00,2.50,0.00,0.000,6,0.000,0.025,3480,2011,1885,0,0,0,0,0,0
$GC,8399,1.39,281.1,147.3,9.6,348,8411,0.00,0.00,6.57,0.555,6,0.000,0.000,3480,2012,1863,0,0,0,0,0,0
$GC,8669,1.45,332.5,122.8,7.1,373,8717,0.00,0.00,45.75,0.629,6,0.000,0.000,3480,2013,1654,0,0,0,0,0,0
$GC,8971,1.53,342.6,95.0,9.5,402,8986,0.10,2.72,9.55,0.542,4,0.087,0.051,3511,412,1612,0,0,0,0,0,0
$GC,9024,1.53,342.6,88.5,13.5,406,9028,0.00,2.47,0.00,0.000,6,0.000,0.024,3511,2013,1611,0,0,0,0,0,0
$GC,9290,1.53,342.6,59.6,11.7,430,9294,0.00,2.70,0.00,0.000,4,0.000,0.054,3511,413,1611,0,0,0,0,0,0
$GC,9349,1.53,342.6,52.4,13.0,434,9354,0.00,2.45,0.00,0.000,6,0.000,0.018,3511,1995,1610,0,0,0,0,0,0
$GC,9631,1.53,342.6,21.2,12.5,463,9641,0.00,2.67,0.00,0.000,4,0.000,0.050,3511,417,1610,0,0,0,0,0,0
$GC,9672,1.53,342.6,16.0,13.5,468,9682,0.00,2.45,0.00,0.000,6,0.000,0.018,3511,1983,1609,0,0,0,0,0,0
$STATE,9773,end climb,SURFACE_DEPTH_REACHED
$STATE,9773,begin surface coast
$FINISH,0.6,0.975376
$STATE,9824,end surface coast,CONTROL_FINISHED_OK
$STATE,9824,begin surface
$SM_CCo,9846,30.70,0.513,0,0,1459,380.21
$SM_GC,1.24,0.00,0.00,30.70,0.000,0.000,0.513,472,1902,1459,-12.43,-0.51,380.21
$IRIDIUM_FIX,2239.35,-15802.37,210900,131356
$TT8_MAMPS,0.026078
$HUMID,63.97
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,50
$24V_AH,23.5,50.220
$10V_AH,10.3,44.265
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.000,133.275,412.475,30.700,0.000,30.866,46.497,198.851,12.500,0.000,15.738,1015.775,6335.865,506.971,1860.070,579.119,33.395,1213.519,0.000,1868.848,0.000,0.534,0.000
$DEVICE_MAMPS,155.701,119.652,908.895,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.969,269.721,377.660,718.981,1087.077,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38581,489
$CAP_FILE_SIZE,110787,0
$CFSIZE,260165632,161222656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,191607,2250.277,-15758.749,25,2.0,25,10.1